Dramatic dashboard-camera video captured a man in military fatigues opening fire on a police officer during a routine traffic stop on an Oregon highway while the man’s three children waited in his car.

The man, identified by investigators as John Allen II, took a bullet to the chest from the officer and managed to drive a half-mile away before slumping in his car and dying. The officer was shot in the side but survived.

The stop happened outside Portland in August. The dash-cam video shows Allen getting out of the car and captures the officer, off camera, saying: “Please sit back in the car for me.”

Allen stands still, his right hand apparently on his back pocket. The officer yells: “Sir! Get back in the car for me now!” Allen then walks toward the officer, and — just as the officer yells, “Sir! Sir!” — opens fire.